-
Notifications
You must be signed in to change notification settings - Fork 1.2k
/
sg.c
1092 lines (952 loc) · 33.6 KB
/
sg.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* Copyright (c) 2010 "Capt'ns Missing Link" Authors. All rights reserved.
* Use of this source code is governed by a BSD-style
* license that can be found in the LICENSE file.
*
* A linux stlink access demo. The purpose of this file is to mitigate the usual
* "reinventing the wheel" force by incompatible licenses and give you an idea,
* how to access the stlink device. That doesn't mean you should be a free-loader
* and not contribute your improvements to this code.
*
* Author: Martin Capitanio <m@capitanio.org>
* The stlink related constants kindly provided by Oliver Spencer (OpenOCD)
* for use in a GPL compatible license.
*
* Tested compatibility: linux, gcc >= 4.3.3
*
* The communication is based on standard USB mass storage device
* BOT (Bulk Only Transfer)
* - Endpoint 1: BULK_IN, 64 bytes max
* - Endpoint 2: BULK_OUT, 64 bytes max
*
* All CBW transfers are ordered with the LSB (byte 0) first (little endian).
* Any command must be answered before sending the next command.
* Each USB transfer must complete in less than 1s.
*
* SB Device Class Definition for Mass Storage Devices:
* www.usb.org/developers/devclass_docs/usbmassbulk_10.pdf
*
* dt - Data Transfer (IN/OUT)
* CBW - Command Block Wrapper
* CSW - Command Status Wrapper
* RFU - Reserved for Future Use
*
* Originally, this driver used scsi pass through commands, which required the
* usb-storage module to be loaded, providing the /dev/sgX links. The USB mass
* storage implementation on the STLinkv1 is however terribly broken, and it can
* take many minutes for the kernel to give up.
*
* However, in Nov 2011, the scsi pass through was replaced by raw libusb, so
* instead of having to let usb-storage struggle with the device, and also greatly
* limiting the portability of the driver, you can now tell usb-storage to simply
* ignore this device completely.
*
* usb-storage.quirks
* http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob_plain;f=Documentation/kernel-parameters.txt
* Each entry has the form VID:PID:Flags where VID and PID are Vendor and Product
* ID values (4-digit hex numbers) and Flags is a set of characters, each corresponding
* to a common usb-storage quirk flag as follows:
*
* a = SANE_SENSE (collect more than 18 bytes of sense data);
* b = BAD_SENSE (don't collect more than 18 bytes of sense data);
* c = FIX_CAPACITY (decrease the reported device capacity by one sector);
* h = CAPACITY_HEURISTICS (decrease the reported device capacity by one sector if the number is odd);
* i = IGNORE_DEVICE (don't bind to this device);
* l = NOT_LOCKABLE (don't try to lock and unlock ejectable media);
* m = MAX_SECTORS_64 (don't transfer more than 64 sectors = 32 KB at a time);
* o = CAPACITY_OK (accept the capacity reported by the device);
* r = IGNORE_RESIDUE (the device reports bogus residue values);
* s = SINGLE_LUN (the device has only one Logical Unit);
* w = NO_WP_DETECT (don't test whether the medium is write-protected).
*
* Example: quirks=0419:aaf5:rl,0421:0433:rc
* http://permalink.gmane.org/gmane.linux.usb.general/35053
*
* For the stlinkv1, you just want the following
*
* modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:i
*
* Equivalently, you can add a line saying
*
* options usb-storage quirks=483:3744:i
*
* to your /etc/modprobe.conf or /etc/modprobe.d/local.conf (or add the "quirks=..."
* part to an existing options line for usb-storage).
*/
#define __USE_GNU
#include <assert.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <sys/types.h>
#include "stlink.h"
#include "stlink/logging.h"
#define STLINK_OK 0x80
#define STLINK_FALSE 0x81
static void clear_cdb(struct stlink_libsg *sl) {
for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
sl->cdb_cmd_blk[i] = 0;
// set default
sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
sl->q_data_dir = Q_DATA_IN;
}
/**
* Close and free any _backend_ related information...
* @param sl
*/
void _stlink_sg_close(stlink_t *sl) {
if (sl) {
struct stlink_libsg *slsg = sl->backend_data;
libusb_close(slsg->usb_handle);
libusb_exit(slsg->libusb_ctx);
free(slsg);
}
}
static int get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag)
{
unsigned char csw[13];
memset(csw, 0, sizeof(csw));
int transferred;
int ret;
int try = 0;
do {
ret = libusb_bulk_transfer(handle, endpoint, (unsigned char *)&csw, sizeof(csw),
&transferred, SG_TIMEOUT_MSEC);
if (ret == LIBUSB_ERROR_PIPE) {
libusb_clear_halt(handle, endpoint);
}
try++;
} while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
if (ret != LIBUSB_SUCCESS) {
WLOG("%s: receiving failed: %d\n", __func__, ret);
return -1;
}
if (transferred != sizeof(csw)) {
WLOG("%s: received unexpected amount: %d\n", __func__, transferred);
return -1;
}
uint32_t rsig = read_uint32(csw, 0);
uint32_t rtag = read_uint32(csw, 4);
/* uint32_t residue = read_uint32(csw, 8); */
#define USB_CSW_SIGNATURE 0x53425355 // 'U' 'S' 'B' 'S' (reversed)
if (rsig != USB_CSW_SIGNATURE) {
WLOG("status signature was invalid: %#x\n", rsig);
return -1;
}
*tag = rtag;
uint8_t rstatus = csw[12];
return rstatus;
}
static int dump_CDB_command(uint8_t *cdb, uint8_t cdb_len) {
char dbugblah[100];
char *dbugp = dbugblah;
dbugp += sprintf(dbugp, "Sending CDB [");
for (uint8_t i = 0; i < cdb_len; i++) {
dbugp += sprintf(dbugp, " %#02x", (unsigned int) cdb[i]);
}
sprintf(dbugp, "]\n");
DLOG(dbugblah);
return 0;
}
/**
* Wraps a CDB mass storage command in the appropriate gunk to get it down
* @param handle
* @param endpoint
* @param cdb
* @param cdb_length
* @param lun
* @param flags
* @param expected_rx_size
* @return
*/
int send_usb_mass_storage_command(libusb_device_handle *handle, uint8_t endpoint_out,
uint8_t *cdb, uint8_t cdb_length,
uint8_t lun, uint8_t flags, uint32_t expected_rx_size) {
DLOG("Sending usb m-s cmd: cdblen:%d, rxsize=%d\n", cdb_length, expected_rx_size);
dump_CDB_command(cdb, cdb_length);
static uint32_t tag;
if (tag == 0) {
tag = 1;
}
int try = 0;
int ret = 0;
int real_transferred;
int i = 0;
uint8_t c_buf[STLINK_SG_SIZE];
// tag is allegedly ignored... TODO - verify
c_buf[i++] = 'U';
c_buf[i++] = 'S';
c_buf[i++] = 'B';
c_buf[i++] = 'C';
write_uint32(&c_buf[i], tag);
uint32_t this_tag = tag++;
write_uint32(&c_buf[i+4], expected_rx_size);
i+= 8;
c_buf[i++] = flags;
c_buf[i++] = lun;
c_buf[i++] = cdb_length;
// Now the actual CDB request
assert(cdb_length <= CDB_SL);
memcpy(&(c_buf[i]), cdb, cdb_length);
int sending_length = STLINK_SG_SIZE;
// send....
do {
ret = libusb_bulk_transfer(handle, endpoint_out, c_buf, sending_length,
&real_transferred, SG_TIMEOUT_MSEC);
if (ret == LIBUSB_ERROR_PIPE) {
libusb_clear_halt(handle, endpoint_out);
}
try++;
} while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
if (ret != LIBUSB_SUCCESS) {
WLOG("sending failed: %d\n", ret);
return -1;
}
return this_tag;
}
/**
* Straight from stm8 stlink code...
* @param handle
* @param endpoint_in
* @param endpoint_out
*/
static void
get_sense(libusb_device_handle *handle, uint8_t endpoint_in, uint8_t endpoint_out)
{
DLOG("Fetching sense...\n");
uint8_t cdb[16];
memset(cdb, 0, sizeof(cdb));
#define REQUEST_SENSE 0x03
#define REQUEST_SENSE_LENGTH 18
cdb[0] = REQUEST_SENSE;
cdb[4] = REQUEST_SENSE_LENGTH;
uint32_t tag = send_usb_mass_storage_command(handle, endpoint_out, cdb, sizeof(cdb), 0,
LIBUSB_ENDPOINT_IN, REQUEST_SENSE_LENGTH);
if (tag == 0) {
WLOG("refusing to send request sense with tag 0\n");
return;
}
unsigned char sense[REQUEST_SENSE_LENGTH];
int transferred;
int ret;
int try = 0;
do {
ret = libusb_bulk_transfer(handle, endpoint_in, sense, sizeof(sense),
&transferred, SG_TIMEOUT_MSEC);
if (ret == LIBUSB_ERROR_PIPE) {
libusb_clear_halt(handle, endpoint_in);
}
try++;
} while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
if (ret != LIBUSB_SUCCESS) {
WLOG("receiving sense failed: %d\n", ret);
return;
}
if (transferred != sizeof(sense)) {
WLOG("received unexpected amount of sense: %d != %d\n", transferred, sizeof(sense));
}
uint32_t received_tag;
int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
if (status != 0) {
WLOG("receiving sense failed with status: %02x\n", status);
return;
}
if (sense[0] != 0x70 && sense[0] != 0x71) {
WLOG("No sense data\n");
} else {
WLOG("Sense KCQ: %02X %02X %02X\n", sense[2] & 0x0f, sense[12], sense[13]);
}
}
/**
* Just send a buffer on an endpoint, no questions asked.
* Handles repeats, and time outs. Also handles reading status reports and sense
* @param handle libusb device *
* @param endpoint_out sends
* @param endpoint_in used to read status reports back in
* @param cbuf what to send
* @param length how much to send
* @return number of bytes actually sent, or -1 for failures.
*/
int send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out,
unsigned char endpoint_in, unsigned char *cbuf, unsigned int length) {
int ret;
int real_transferred;
int try = 0;
do {
ret = libusb_bulk_transfer(handle, endpoint_out, cbuf, length,
&real_transferred, SG_TIMEOUT_MSEC);
if (ret == LIBUSB_ERROR_PIPE) {
libusb_clear_halt(handle, endpoint_out);
}
try++;
} while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
if (ret != LIBUSB_SUCCESS) {
WLOG("sending failed: %d\n", ret);
return -1;
}
// now, swallow up the status, so that things behave nicely...
uint32_t received_tag;
// -ve is for my errors, 0 is good, +ve is libusb sense status bytes
int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
if (status < 0) {
WLOG("receiving status failed: %d\n", status);
return -1;
}
if (status != 0) {
WLOG("receiving status not passed :(: %02x\n", status);
}
if (status == 1) {
get_sense(handle, endpoint_in, endpoint_out);
return -1;
}
return real_transferred;
}
int stlink_q(stlink_t *sl) {
struct stlink_libsg* sg = sl->backend_data;
//uint8_t cdb_len = 6; // FIXME varies!!!
uint8_t cdb_len = 10; // FIXME varies!!!
uint8_t lun = 0; // always zero...
uint32_t tag = send_usb_mass_storage_command(sg->usb_handle, sg->ep_req,
sg->cdb_cmd_blk, cdb_len, lun, LIBUSB_ENDPOINT_IN, sl->q_len);
// now wait for our response...
// length copied from stlink-usb...
int rx_length = sl->q_len;
int try = 0;
int real_transferred;
int ret;
if (rx_length > 0) {
do {
ret = libusb_bulk_transfer(sg->usb_handle, sg->ep_rep, sl->q_buf, rx_length,
&real_transferred, SG_TIMEOUT_MSEC);
if (ret == LIBUSB_ERROR_PIPE) {
libusb_clear_halt(sg->usb_handle, sg->ep_req);
}
try++;
} while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
if (ret != LIBUSB_SUCCESS) {
WLOG("Receiving failed: %d\n", ret);
return -1;
}
if (real_transferred != rx_length) {
WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length);
}
}
uint32_t received_tag;
// -ve is for my errors, 0 is good, +ve is libusb sense status bytes
int status = get_usb_mass_storage_status(sg->usb_handle, sg->ep_rep, &received_tag);
if (status < 0) {
WLOG("receiving status failed: %d\n", status);
return -1;
}
if (status != 0) {
WLOG("receiving status not passed :(: %02x\n", status);
}
if (status == 1) {
get_sense(sg->usb_handle, sg->ep_rep, sg->ep_req);
return -1;
}
if (received_tag != tag) {
WLOG("received tag %d but expected %d\n", received_tag, tag);
//return -1;
}
if (rx_length > 0 && real_transferred != rx_length) {
return -1;
}
return 0;
}
// TODO thinking, cleanup
void stlink_stat(stlink_t *stl, char *txt) {
if (stl->q_len <= 0)
return;
stlink_print_data(stl);
switch (stl->q_buf[0]) {
case STLINK_OK:
DLOG(" %s: ok\n", txt);
return;
case STLINK_FALSE:
DLOG(" %s: false\n", txt);
return;
default:
DLOG(" %s: unknown\n", txt);
}
}
int _stlink_sg_version(stlink_t *stl) {
struct stlink_libsg *sl = stl->backend_data;
clear_cdb(sl);
sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
stl->q_len = 6;
sl->q_addr = 0;
return stlink_q(stl);
}
// Get stlink mode:
// STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
// usb dfu || usb mass || jtag or swd
int _stlink_sg_current_mode(stlink_t *stl) {
struct stlink_libsg *sl = stl->backend_data;
clear_cdb(sl);
sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
stl->q_len = 2;
sl->q_addr = 0;
if (stlink_q(stl))
return -1;
return stl->q_buf[0];
}
// Exit the mass mode and enter the swd debug mode.
int _stlink_sg_enter_swd_mode(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
sl->q_len = 0; // >0 -> aboard
return stlink_q(sl);
}
// Exit the mass mode and enter the jtag debug mode.
// (jtag is disabled in the discovery's stlink firmware)
int _stlink_sg_enter_jtag_mode(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_enter_jtag_mode ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
sl->q_len = 0;
return stlink_q(sl);
}
// XXX kernel driver performs reset, the device temporally disappears
// Suspect this is no longer the case when we have ignore on? RECHECK
int _stlink_sg_exit_dfu_mode(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_exit_dfu_mode ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
sl->q_len = 0; // ??
return stlink_q(sl);
/*
[135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
[135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
[135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
[135121.844584] end_request: I/O error, dev sdb, sector 4096
[135121.844590] Buffer I/O error on device sdb, logical block 512
[135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
[135130.274551] usb 6-1: device firmware changed
[135130.274618] usb 6-1: USB disconnect, address 7
[135130.275186] VFS: busy inodes on changed media or resized disk sdb
[135130.275424] VFS: busy inodes on changed media or resized disk sdb
[135130.286758] VFS: busy inodes on changed media or resized disk sdb
[135130.292796] VFS: busy inodes on changed media or resized disk sdb
[135130.301481] VFS: busy inodes on changed media or resized disk sdb
[135130.304316] VFS: busy inodes on changed media or resized disk sdb
[135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
[135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
[135130.629492] scsi20 : usb-storage 6-1:1.0
[135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
[135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
[135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
[135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
[135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
[135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
[135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
[135131.640609] sdb:
[135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
[135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
[135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
[135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
[135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
[135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
[135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
[135131.671570] end_request: I/O error, dev sdb, sector 63872
[135131.671575] Buffer I/O error on device sdb, logical block 7984
[135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
[135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
[135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
[135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
[135131.678551] end_request: I/O error, dev sdb, sector 63872
...
[135131.853565] end_request: I/O error, dev sdb, sector 4096
*/
}
int _stlink_sg_core_id(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
int ret;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
sl->q_len = 4;
sg->q_addr = 0;
ret = stlink_q(sl);
if (ret)
return ret;
sl->core_id = read_uint32(sl->q_buf, 0);
return 0;
}
// Arm-core reset -> halted state.
int _stlink_sg_reset(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
stlink_stat(sl, "core reset");
return 0;
}
// Arm-core reset -> halted state.
int _stlink_sg_jtag_reset(stlink_t *sl, int value) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_JTAG_DRIVE_NRST;
sg->cdb_cmd_blk[2] = (value)?0:1;
sl->q_len = 3;
sg->q_addr = 2;
if (stlink_q(sl))
return -1;
stlink_stat(sl, "core reset");
return 0;
}
// Arm-core status: halted or running.
int _stlink_sg_status(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
sl->q_len = 2;
sg->q_addr = 0;
return stlink_q(sl);
}
// Force the core into the debug mode -> halted state.
int _stlink_sg_force_debug(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
stlink_stat(sl, "force debug");
return 0;
}
// Read all arm-core registers.
int _stlink_sg_read_all_regs(stlink_t *sl, struct stlink_reg *regp) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
sl->q_len = 84;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
stlink_print_data(sl);
// TODO - most of this should be re-extracted up....
// 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
// r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
for (int i = 0; i < 16; i++) {
regp->r[i] = read_uint32(sl->q_buf, 4 * i);
if (sl->verbose > 1)
DLOG("r%2d = 0x%08x\n", i, regp->r[i]);
}
regp->xpsr = read_uint32(sl->q_buf, 64);
regp->main_sp = read_uint32(sl->q_buf, 68);
regp->process_sp = read_uint32(sl->q_buf, 72);
regp->rw = read_uint32(sl->q_buf, 76);
regp->rw2 = read_uint32(sl->q_buf, 80);
if (sl->verbose < 2)
return 0;
DLOG("xpsr = 0x%08x\n", regp->xpsr);
DLOG("main_sp = 0x%08x\n", regp->main_sp);
DLOG("process_sp = 0x%08x\n", regp->process_sp);
DLOG("rw = 0x%08x\n", regp->rw);
DLOG("rw2 = 0x%08x\n", regp->rw2);
return 0;
}
// Read an arm-core register, the index must be in the range 0..20.
// 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
// r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
int _stlink_sg_read_reg(stlink_t *sl, int r_idx, struct stlink_reg *regp) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
sg->cdb_cmd_blk[2] = r_idx;
sl->q_len = 4;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
// 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
// 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
// r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
stlink_print_data(sl);
uint32_t r = read_uint32(sl->q_buf, 0);
DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
switch (r_idx) {
case 16:
regp->xpsr = r;
break;
case 17:
regp->main_sp = r;
break;
case 18:
regp->process_sp = r;
break;
case 19:
regp->rw = r; //XXX ?(primask, basemask etc.)
break;
case 20:
regp->rw2 = r; //XXX ?(primask, basemask etc.)
break;
default:
regp->r[r_idx] = r;
}
return 0;
}
// Write an arm-core register. Index:
// 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
// r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
int _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
// 2: reg index
// 3-6: reg content
sg->cdb_cmd_blk[2] = idx;
write_uint32(sg->cdb_cmd_blk + 3, reg);
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
stlink_stat(sl, "write reg");
return 0;
}
// Write a register of the debug module of the core.
// XXX ?(atomic writes)
// TODO test
void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_write_dreg ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
// 2-5: address of reg of the debug module
// 6-9: reg content
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint32(sg->cdb_cmd_blk + 6, reg);
sl->q_len = 2;
sg->q_addr = addr;
stlink_q(sl);
stlink_stat(sl, "write debug reg");
}
// Force the core exit the debug mode.
int _stlink_sg_run(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
stlink_stat(sl, "run core");
return 0;
}
// Step the arm-core.
int _stlink_sg_step(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl))
return -1;
stlink_stat(sl, "step core");
return 0;
}
// TODO test
// see Cortex-M3 Technical Reference Manual
// TODO make delegate!
void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
DLOG("\n*** stlink_set_hw_bp ***\n");
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
// 2:The number of the flash patch used to set the breakpoint
// 3-6: Address of the breakpoint (LSB)
// 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
sl->q_buf[2] = fp_nr;
write_uint32(sl->q_buf, addr);
sl->q_buf[7] = fp;
sl->q_len = 2;
stlink_q(sl);
stlink_stat(sl, "set flash breakpoint");
}
// TODO test
// TODO make delegate!
void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_clr_hw_bp ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
sg->cdb_cmd_blk[2] = fp_nr;
sl->q_len = 2;
stlink_q(sl);
stlink_stat(sl, "clear flash breakpoint");
}
// Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
int _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
// 2-5: addr
// 6-7: len
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint16(sg->cdb_cmd_blk + 6, len);
// data_in 0-0x40-len
// !!! len _and_ q_len must be max 6k,
// i.e. >1024 * 6 = 6144 -> aboard)
// !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
// (broken residue issue)
sl->q_len = len;
sg->q_addr = addr;
if (stlink_q(sl))
return -1;
stlink_print_data(sl);
return 0;
}
// Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
int _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libsg *sg = sl->backend_data;
int ret;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
// 2-5: addr
// 6-7: len (>0x40 (64) -> aboard)
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint16(sg->cdb_cmd_blk + 6, len);
// this sends the command...
ret = send_usb_mass_storage_command(sg->usb_handle,
sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
if (ret == -1)
return ret;
// This sends the data...
ret = send_usb_data_only(sg->usb_handle,
sg->ep_req, sg->ep_rep, sl->q_buf, len);
if (ret == -1)
return ret;
stlink_print_data(sl);
return 0;
}
// Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
int _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libsg *sg = sl->backend_data;
int ret;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
// 2-5: addr
// 6-7: len "unlimited"
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint16(sg->cdb_cmd_blk + 6, len);
// this sends the command...
ret = send_usb_mass_storage_command(sg->usb_handle,
sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
if (ret == -1)
return ret;
// This sends the data...
ret = send_usb_data_only(sg->usb_handle,
sg->ep_req, sg->ep_rep, sl->q_buf, len);
if (ret == -1)
return ret;
stlink_print_data(sl);
return 0;
}
// Write one DWORD data to memory
int _stlink_sg_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_JTAG_WRITEDEBUG_32BIT;
// 2-5: addr
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint32(sg->cdb_cmd_blk + 6, data);
sl->q_len = 2;
return stlink_q(sl);
}
// Read one DWORD data from memory
int _stlink_sg_read_debug32(stlink_t *sl, uint32_t addr, uint32_t *data) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_JTAG_READDEBUG_32BIT;
// 2-5: addr
write_uint32(sg->cdb_cmd_blk + 2, addr);
sl->q_len = 8;
if (stlink_q(sl))
return -1;
*data = read_uint32(sl->q_buf, 4);
return 0;
}
// Exit the jtag or swd mode and enter the mass mode.
int _stlink_sg_exit_debug_mode(stlink_t *stl)
{
if (stl) {
struct stlink_libsg* sl = stl->backend_data;
clear_cdb(sl);
sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
stl->q_len = 0; // >0 -> aboard
return stlink_q(stl);
}
return 0;
}
// 1) open a sg device, switch the stlink from dfu to mass mode
// 2) wait 5s until the kernel driver stops reseting the broken device
// 3) reopen the device
// 4) the device driver is now ready for a switch to jtag/swd mode
// TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
static stlink_backend_t _stlink_sg_backend = {
_stlink_sg_close,
_stlink_sg_exit_debug_mode,
_stlink_sg_enter_swd_mode,
_stlink_sg_enter_jtag_mode,
_stlink_sg_exit_dfu_mode,
_stlink_sg_core_id,
_stlink_sg_reset,
_stlink_sg_jtag_reset,
_stlink_sg_run,
_stlink_sg_status,
_stlink_sg_version,
_stlink_sg_read_debug32,
_stlink_sg_read_mem32,
_stlink_sg_write_debug32,
_stlink_sg_write_mem32,
_stlink_sg_write_mem8,
_stlink_sg_read_all_regs,
_stlink_sg_read_reg,
NULL, /* read_all_unsupported_regs */
NULL, /* read_unsupported_regs */
NULL, /* write_unsupported_regs */
_stlink_sg_write_reg,
_stlink_sg_step,
_stlink_sg_current_mode,
_stlink_sg_force_debug,
NULL, /* target_voltage */
NULL /* set_swdclk */
};
static stlink_t* stlink_open(const int verbose) {
stlink_t *sl = malloc(sizeof (stlink_t));
memset(sl, 0, sizeof(stlink_t));
struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
if (sl == NULL || slsg == NULL) {
WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n");
return NULL;
}
if (libusb_init(&(slsg->libusb_ctx))) {
WLOG("failed to init libusb context, wrong version of libraries?\n");
free(sl);
free(slsg);
return NULL;
}
libusb_set_debug(slsg->libusb_ctx, 3);
slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, STLINK_USB_VID_ST, STLINK_USB_PID_STLINK);
if (slsg->usb_handle == NULL) {
WLOG("Failed to find an stlink v1 by VID:PID\n");
libusb_close(slsg->usb_handle);
libusb_exit(slsg->libusb_ctx);
free(sl);
free(slsg);
return NULL;
}
// TODO
// Could read the interface config descriptor, and assert lots of the assumptions
// assumption: numInterfaces is always 1...
if (libusb_kernel_driver_active(slsg->usb_handle, 0) == 1) {
int r = libusb_detach_kernel_driver(slsg->usb_handle, 0);
if (r < 0) {
WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
libusb_close(slsg->usb_handle);
libusb_exit(slsg->libusb_ctx);
free(sl);
free(slsg);
return NULL;
}
DLOG("Kernel driver was successfully detached\n");
}
int config;
if (libusb_get_configuration(slsg->usb_handle, &config)) {
/* this may fail for a previous configured device */
WLOG("libusb_get_configuration()\n");
libusb_close(slsg->usb_handle);
libusb_exit(slsg->libusb_ctx);
free(sl);
free(slsg);
return NULL;
}
// assumption: bConfigurationValue is always 1
if (config != 1) {
WLOG("Your stlink got into a real weird configuration, trying to fix it!\n");